Home/Matthew T. Mason

Matthew T. Mason

Professor
Email: mm3x@andrew.cmu.edu
Office: NSH A521
Phone: (412) 951-3534
Personal Homepage
Administrative Assistant: Jean Harpley

I work in robotics. The primary venue for my work is the Manipulation Lab (MLab).

Simple Hands

My primary focus is simple hands. I think simple hands are better than complex anthropomorphic hands, both for research purposes and for most applications. The main reason is that the dexterity of a hand is mostly about the brain, not the hand. Our approach mixes a strong dose of machine learning into the traditional brew of AI, control and mechanical design. If you’re curious, there are publications here. Probably the first one to read is the 2012 IJRR paper Autonomous Manipulation with a General-Purpose Simple Hand. Also see related papers from ICRA 2013 and RSS 2011, both of which won best student paper awards. The project began with NSF funding and is continuing with funds from NSF and the Army Research Office.

Extrinsic Dexterity

In robotic manipulation lingo, “dexterity” often refers to moving an object in the hand, like when you drop a coin from a fingertip grasp to your palm. However, most research on dexterity assumes a complex anthropomorphic hand. Under the standard assumption, a simple hand cannot shift grasps. But those assumptions are too restrictive. We have demonstrated the mechanical feasibility of dexterous manipulation using a simple hand. Our research is focused on going beyond mechanical feasibility, so that an autonomous robot could employ extrinsic dexterity by planning and controlling the simple hand for a given object and task. The first paper to read is the 2014 ICRA paper (Chavan Dafle et al.), perhaps followed by the Zhou et al. paper which won Best Conference Paper at ICRA 2016, or the upcoming WAFR 2016 paper by Hou et al.

Manufacturing Automation

Industrial automation is the ultimate proving ground for robotic manipulation research. This project, sponsored by Foxconn, is focused on automatic assembly of smart phones. The challenges are formidable, since smart phones use very small parts, some floppy and some sticky, and there is unavoidable clutter. We have a forthcoming paper surveying threaded fastening automation, and a recent paper on machine learning applied to classify stages of screw insertion (ISER 2016).

Publications

Displaying 126 Publications
A Probabilistic Planning Framework for Planar Grasping Under Uncertainty
Jiaji Zhou, Robert Paolini, Aaron M. Johnson, J. Andrew (Drew) Bagnell, Matthew T. Mason

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), September, 2017

A Fast Stochastic Contact Model for Planar Pushing and Grasping: Theory and Experimental Validation
Jiaji Zhou, J. Andrew (Drew) Bagnell, Matthew T. Mason

Robotics: Science and Systems, July, 2017

Robust Planar Dynamic Pivoting by Regulating Inertial and Grip Forces
Yifan Hou, Zhenzhong Jia, Aaron M. Johnson, Matthew T. Mason

THE 12 TH INTERNATIONAL WORKSHOP ON THE ALGORITHMIC FOUNDATIONS OF ROBOTICS, December, 2016

Data-driven Classification of Screwdriving Operations
Reuben Aronson, Ankit Bhatia, Zhenzhong Jia, Mathieu Guillame-Bert, David Bourne, Artur W. Dubrawski, Matthew T. Mason

International Symposium on Experimental Robotics, October, 2016

Data-Driven Statistical Modeling of a Cube Regrasp
Robert Paolini, Matthew T. Mason

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2016

A Convex Polynomial Force-Motion Model for Planar Sliding: Identification and Application
Jiaji Zhou, Robert Paolini, J. Andrew (Drew) Bagnell, Matthew T. Mason

International Conference on Robotics and Automation (ICRA) 2016, May, 2016

A Novel Nonlinear Compliant Link on Simple Grippers
Zhiwei Zhang, Alberto Rodriguez, and Matthew T. Mason

2015 IEEE/RSJ Conference on Intelligent Robots and Systems (IROS 2015), September, 2015

Extrinsic Dexterity: In-Hand Manipulation with External Forces
Nikhil Chavan-Dafle, Alberto Rodriguez, Robert Paolini, Bowei Tang, Siddhartha Srinivasa, Michael Erdmann, Matthew T. Mason, Ivan Lundberg, Harald Staab and Thomas Fuhlbrigge

IEEE International Conference on Robotics and Automation (ICRA), May, 2014

A Data-Driven Statistical Framework for Post-Grasp Manipulation
Robert Paolini, Alberto Rodriguez, Siddhartha Srinivasa and Matthew T. Mason

International Journal of Robotics Research (IJRR), Vol. 33, No. 4, pp. 600-615, April, 2014

A Simple and Compliant Force Sensing Palm for the MLab Simple Hand
Garth Zeglin, Alberto Rodriguez and Matthew T. Mason

IEEE International Conference on Robotics and Automation (ICRA 2013), May, 2013

Effector Form Design for 1DOF Planar Actuation
Alberto Rodriguez and Matthew T. Mason

IEEE International Conference on Robotics and Automation (ICRA 2013), May, 2013

Harnessing Human Manipulation
Matthew T. Mason, Nancy Pollard, Alberto Rodriguez and Ryan Kerwin

NSF/ARL Workshop on Cloud Robotics : Challenges and Opportunities, February, 2013

Multiple Impacts: A State Transition Diagram Approach
Yan-Bin Jia, Matthew T. Mason and Michael Erdmann

International Journal of Robotics Research, Vol. 32, No. 1, pp. 84-114, January, 2013

Path-Connectivity of the Free Space
Alberto Rodriguez and Matthew T. Mason

IEEE Transactions on Robotics (TRO), Vol. 28, No. 5, pp. 1177-1180, October, 2012

A Data-Driven Statistical Framework for Post-Grasp Manipulation
Robert Paolini, Alberto Rodriguez, Siddhartha Srinivasa and Matthew T. Mason

International Symposium on Experimental Robotics (ISER 2012), June, 2012

From Caging to Grasping
Alberto Rodriguez, Matthew T. Mason and Steve Ferry

The International Journal of Robotics Research (IJRR), Vol. 31, No. 7, pp. 886-900, June, 2012

Autonomous Manipulation with a General-Purpose Simple Hand
Matthew T. Mason, Alberto Rodriguez, Siddhartha Srinivasa and Andres S. Vazquez

The International Journal of Robotics Research (IJRR), Vol. 31, No. 5, pp. 688-703, April, 2012

Grasp Invariance
Alberto Rodriguez and Matthew T. Mason

The International Journal of Robotics Research (IJRR), Vol. 31, No. 2, pp. 237-249, February, 2012

Toward a deeper understanding of motion alternatives via an equivalence relation on local paths
Ross Alan Knepper, Siddhartha Srinivasa and Matthew T. Mason

International Journal of Robotics Research, Vol. 31, No. 2, pp. 168-187, February, 2012

Abort and Retry in Grasping
Alberto Rodriguez, Matthew T. Mason, Siddhartha Srinivasa, Matthew Bernstein and Alex Zirbel

IEEE International Conference on Intelligent Robots and Systems (IROS 2011), September, 2011

Improved Hierarchical Planner Performance Using Local Path Equivalence
Ross Alan Knepper and Matthew T. Mason

International Conference on Intelligent Robots and Systems (IROS '11), September, 2011

Realtime Informed Path Sampling for Motion Planning Search
Ross Alan Knepper and Matthew T. Mason

CMU-RI-TR-, 15th International Symposium on Robotics Research (ISRR), August, 2011

From Caging to Grasping
Alberto Rodriguez, Matthew T. Mason and Steve Ferry

Robotics: Science and Systems (RSS 2011), June, 2011

An Equivalence Relation for Local Path Sets
Ross Alan Knepper, Siddhartha Srinivasa and Matthew T. Mason

The Ninth International Workshop on the Algorithmic Foundations of Robotics, December, 2010

Grasp Invariance
Alberto Rodriguez and Matthew T. Mason

International Workshop on the Algorithmic Foundations of Robotics (WAFR 2010), December, 2010

Manipulation Capabilities with Simple Hands
Alberto Rodriguez, Matthew T. Mason and Siddhartha Srinivasa

International Symposium on Experimental Robotics (ISER 2010), December, 2010

Generality and Simple Hands
Matthew T. Mason , Siddhartha Srinivasa andres S. Vazquez and Alberto Rodriguez

CMU-RI-TR-10-40, Robotics Institute, Carnegie Mellon University, November, 2010

Failure Detection in Assembly: Force Signature Analysis
Alberto Rodriguez, David Bourne, Matthew T. Mason , Gregory F. Rossano and JianJun Wang

IEEE Conference on Automation Science and Engineering (CASE 2010), August, 2010

DSAC – Dynamic, Single Actuated Climber. Local Stability and Bifurcations
Amir Degani, Howie Choset and Matthew T. Mason

Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA), May, 2010

Hierarchical Planning Architectures for Mobile Manipulation Tasks in Indoor Environments
Ross Alan Knepper, Siddhartha Srinivasa and Matthew T. Mason

Proceedings of ICRA 2010, May, 2010

Minimalistic, Dynamic, Tube Climbing Robot – Video Submission
Amir Degani, Siyuan Feng, Howie Choset and Matthew T. Mason

IEEE International Conference on Robotics and Automation, May, 2010

Generality and Simple Hands
Matthew T. Mason , Siddhartha Srinivasa and Andres S. Vazquez

International Symposium of Robotics Research, July, 2009

Path Diversity Is Only Part of the Problem
Ross Alan Knepper and Matthew T. Mason

International Conference on Robotics and Automation, May, 2009, May, 2009

Minimum Wheel-Rotation Paths for Differential-Drive Robots
Hamidreza Chitsaz, Steven M. LaValle, Devin J. Balkcom and Matthew T. Mason

The International Journal of Robotics Research, Vol. 28, No. 1, pp. 66-80, January, 2009

A State Transition Diagram for Simultaneous Collisions with Application in Billiard Shooting
Yan-Bin Jia, Matthew T. Mason and Michael Erdmann

Eighth International Workshop on the Algorithmic Foundations of Robotics, December, 2008

Two finger caging: squeezing and stretching
Alberto Rodriguez and Matthew T. Mason

International Workshop on the Algorithmic Foundations of Robotics (WAFR 2008), December, 2008

Empirical Sampling of Path Sets for Local Area Motion Planning
Ross Alan Knepper and Matthew T. Mason

International Symposium on Experimental Robotics, July, 2008

Legless Locomotion: A Novel Locomotion Technique for Legged Robots
Ravi Balasubramanian, Alfred Rizzi and Matthew T. Mason

International Journal of Robotics Research, Vol. 27, No. 5, pp. 575 - 594, May, 2008

Robotic Origami Folding
Devin Balkcom and Matthew T. Mason

International Journal of Robotics Research, Vol. 27, No. 5, pp. 613 - 627, May, 2008

A Dynamic Single Actuator Vertical Climbing Robot
Amir Degani, Amir Shapiro, Howie Choset and Matthew T. Mason

Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, pp. 2901-2906, November, 2007

Time-optimal Trajectories for an Omni-directional Vehicle
Devin Balkcom, Paritosh A. Kavathekar and Matthew T. Mason

The International Journal of Robotics Research, Vol. 25, No. 10, pp. 985 - 999, October, 2006

Toward Legless Locomotion Control
Ravi Balasubramanian, Alfred Rizzi and Matthew T. Mason

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5594 - 5599, October, 2006

Using projected dynamics to plan dynamic contact manipulation
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3618 - 3623, August, 2005

Control synthesis for dynamic contact manipulation
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

IEEE International Conference on Robotics and Automation, pp. 2523 - 2528, April, 2005

Legless Locomotion: Models and Experimental Demonstration
Ravi Balasubramanian, Alfred Rizzi and Matthew T. Mason

Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1803 - 1808, April, 2004

Introducing robotic origami folding
Devin J. Balkcom and Matthew T. Mason

IEEE International Conference on Robotics and Automation, pp. 3245-3250, January, 2004

Legless Locomotion for Legged Robots
Ravi Balasubramanian, Alfred Rizzi and Matthew T. Mason

CMU-RI-TR-04-05, Robotics Institute, Carnegie Mellon University, January, 2004

Legless Locomotion for Legged Robots
Ravi Balasubramanian, Alfred Rizzi and Matthew T. Mason

Proceedings of the International Conference on Robotics and Intelligent Systems, Vol. 1, pp. 880 - 885, October, 2003

Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03), Vol. 3, pp. 3391 - 3396, May, 2003

Experiments with nonholonomic manipulation
Siddhartha Srinivasa, Christopher R. Baker, Elisha Sacks, Grigoriy Reshko, Matthew T. Mason and Michael Erdmann

Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), Vol. 2, pp. 2042 - 2047, May, 2002

Extremal Trajectories for Bounded Velocity Mobile Robots
Devin Balkcom and Matthew T. Mason

ICRA, May, 2002

Rapid Prototyping of Small Robots
Greg Reshko, Matthew T. Mason and Illah Nourbakhsh

CMU-RI-TR-02-11, Robotics Institute, Carnegie Mellon University, March, 2002

Extremal trajectories for bounded velocity mobile robots
Devin J. Balkcom and Matthew T. Mason

IEEE International Conference on Robotics and Automation, January, 2002

Mechanics of Robotic Manipulation
Matthew T. Mason

August, 2001

Progress in Desktop Robotics
Devin Balkcom and Matthew T. Mason

The Eleventh Yale Workshop on Adaptive and Learning Systems, January, 2001

Orienting Toleranced Polygonal Parts
Srinivas Akella and Matthew T. Mason

International Journal of Robotics Research, Vol. 19, No. 12, pp. 1147-1170, December, 2000

Parts Feeding on a Conveyor with a One Joint Robot
Srinivas Akella, Wesley Huang, Kevin Lynch and Matthew T. Mason

Algorithmica (Special issue on Robotics), November, 2000

Mechanics, planning, and control for tapping
Wesley Huang and Matthew T. Mason

International Journal of Robotics Research, Vol. 19, No. 10, pp. 883-894, October, 2000

Extremal Trajectories for Bounded Velocity Differential Drive Robots
Devin Balkcom and Matthew T. Mason

IEEE International Conference on Robotics and Automation (ICRA '00), Vol. 3, pp. 2479 - 2484, April, 2000

Time Optimal Trajectories for Bounded Velocity Differential Drive Robots
Devin Balkcom and Matthew T. Mason

IEEE International Conference on Robotics and Automation (ICRA '00), Vol. 3, pp. 2499 - 2504, April, 2000

Geometric construction of time optimal trajectories for differential drive robots
Devin Balkcom and Matthew T. Mason

Proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR '00), January, 2000

Progress in Nonprehensile Manipulation
Matthew T. Mason

International Journal of Robotics Research, Vol. 18, No. 11, pp. 1129-1141, November, 1999

Using Partial Sensor Information to Orient Parts
Srinivas Akella and Matthew T. Mason

International Journal of Robotics Research, Vol. 18, No. 10, pp. 963-997, October, 1999

A Mobile Manipulator
Matthew T. Mason , Dinesh Pai, Daniela Rus, L. R. Taylor and Michael Erdmann

IEEE International Conference on Robotics and Automation (ICRA '99), Vol. 3, pp. 2322 - 2327, May, 1999

Dynamic Nonprehensile Manipulation: Controllability, Planning and Experiments
Kevin Lynch and Matthew T. Mason

International Journal of Robotics Research, Vol. 18, No. 1, pp. 64-92, January, 1999

Experiments with Desktop Mobile Manipulators
Matthew T. Mason , Dinesh Pai, Daniela Rus, J. Howell, L. R. Taylor and Michael Erdmann

Internatiional Symposium on Experimental Robotics, January, 1999

Experiments in Impulsive Manipulation
Wesley Huang and Matthew T. Mason

IEEE International Conference on Robotics and Automation (ICRA '98), Vol. 2, pp. 1077 - 1082, May, 1998

Parts Orienting with Partial Sensor Information
Srinivas Akella and Matthew T. Mason

1998 IEEE International Conference on Robotics and Automation, May, 1998

Parts Orienting with Shape Uncertainty
Srinivas Akella and Matthew T. Mason

1998 IEEE International Conference on Robotics and Automation, May, 1998

Mechanics, Planning, and Control for Tapping
Wesley Huang and Matthew T. Mason

Workshop on the Algorithmic Foundations of Robotics, January, 1998

Posing polygonal objects in the plane by pushing
Srinivas Akella and Matthew T. Mason

International Journal of Robotics Research, Vol. 17, No. 1, pp. 70-88, January, 1998

Robotics: The Algorithmic Perspective
Matthew T. Mason

January, 1998

Mechanics for Vibratory Manipulation
Wesley Huang and Matthew T. Mason

IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 3, pp. 2391 - 2396, April, 1997

Sensorless Parts Orienting with a One Joint Manipulator
Srinivas Akella, Wesley Huang, Kevin Lynch and Matthew T. Mason

IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 3, pp. 2383 - 2390, April, 1997

Dynamic manipulation with a one joint robot
Kevin Lynch and Matthew T. Mason

IEEE International Conference on Robotics and Automation (ICRA '97), January, 1997

Stable Pushing: Mechanics, Controllability, and Planning
Kevin Lynch and Matthew T. Mason

International Journal of Robotics Research, Vol. 15, No. 6, pp. 533-556, December, 1996

Dynamic Underactuated Nonprehensile Manipulation
Kevin Lynch and Matthew T. Mason

IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 889-896, November, 1996

Limiting Cases of Impulsive Manipulation
Wesley Huang and Matthew T. Mason

CMU-RI-TR-96-24, Robotics Institute, Carnegie Mellon University, September, 1996

From Robotic Juggling to Robotic Parts Feeding
Srinivas Akella, Wesley Huang, Kevin Lynch and Matthew T. Mason

In the Ninth Yale Workshop on Adaptive and Learning Systems, January, 1996

Sensorless Parts Feeding with a One Joint Robot
Srinivas Akella, Wesley Huang, Kevin Lynch and Matthew T. Mason

Workshop on the Algorithmic Fundamentals of Robotics, January, 1996

Controllability of Pushing
Kevin Lynch and Matthew T. Mason

IEEE International Conference on Robotics and Automation, Vol. 1, pp. 112-119, May, 1995

Parts Orienting by Push-Aligning
Srinivas Akella and Matthew T. Mason

1995 IEEE International Conference on Robotics and Automation, Vol. 1, pp. 414-420, May, 1995

Pulling by Pushing, Slip with Infinite Friction, and Perfectly Rough Surfaces
Kevin Lynch and Matthew T. Mason

International Journal of Robotics Research, Vol. 14, No. 2, pp. 174-183, April, 1995

Impulsive Manipulation
Wesley Huang, Eric Krotkov and Matthew T. Mason

IEEE International Conference on Robotics and Automation (ICRA '95), January, 1995

Planar Manipulation on a Conveyor with a One Joint Robot
Srinivas Akella, Wesley Huang, Kevin Lynch and Matthew T. Mason

International Symposium on Robotics Research, pp. 265-276, January, 1995

Stable Pushing: Mechanics, Controllability, and Planning
Kevin Lynch and Matthew T. Mason

Algorithmic Foundations of Robotics, pp. 239-262, January, 1995

Mechanical Parts Orienting: The Case of a Polyhedron on a Table
Michael Erdmann , Matthew T. Mason and George Vanecek

Algorithmica, Vol. 10, No. 2/3/2004, August, 1993

Dynamic Manipulation
Matthew T. Mason and Kevin Lynch

IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 152-159, July, 1993

Two-dimensional rigid-body collisions with friction: authors’ closure
Yu Wang and Matthew T. Mason

Trans ASME; J Applied Mechanics, Vol. 60, June, 1993

Kicking the Sensing Habit
Matthew T. Mason

AI Magazine, Vol. 14, No. 1, pp. 58-59, January, 1993

Recent Results in Pushing
Matthew T. Mason , Srinivas Akella and Kevin Lynch

Proceedings of the NSF Design and Manufacturing Systems Grantees Conference, January, 1993

Throwing a Club: Early Results
Matthew T. Mason and Kevin Lynch

International Symposium on Robotics Research, January, 1993

Two Dimensional Rigid Body Collisions with Friction
Yu Wang and Matthew T. Mason

Trans ASME; J Applied Mechanics, Vol. 59, No. 3, pp. 635-642, September, 1992

Posing Polygonal Objects in the Plane by Pushing
Srinivas Akella and Matthew T. Mason

IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2255-2262, May, 1992

Planar Sliding with Dry Friction: a Review
Michael Erdmann and Matthew T. Mason

The Robotics Review 2, pp. 47-50, January, 1992

Two Graphical Methods for Planar Contact Problems
Matthew T. Mason

IEEE/RSJ International Conference on Intelligent Robots and Systems, Intelligence for Mechanical Systems, Vol. 2, pp. 443-448, November, 1991

Generating Stochastic Plans for a Programmable Parts Feeder
Kenneth Y. Goldberg, Matthew T. Mason and Michael Erdmann

IEEE International Conference on Robotics and Automation, Vol. 1, pp. 352 - 359, April, 1991

Learning Reliable Manipulation Strategies Without Initial Physical Models
Alan D. Christiansen, Matthew T. Mason and Tom Mitchell

Robotics and Autonomous Systems, Vol. 8, January, 1991

Bayesian Grasping
Kenneth Y. Goldberg and Matthew T. Mason

IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1264 - 1269, May, 1990

Learning reliable manipulation strategies without initial physical models
A.D. Christiansen, Matthew T. Mason and Tom Mitchell

IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1224 - 1230, May, 1990

A Programmable Parts Feeder
Kenneth Y. Goldberg and Matthew T. Mason

Annual Research Review, January, 1990

Progress in Robotic Manipulation
Matthew T. Mason , Randy C. Brost and Kenneth Y. Goldberg

Proceedings of NSF Design and Manufacturing Systems Conference, January, 1990

Graphical analysis of planar rigid-body dynamics with multiple frictional contacts
Randy C. Brost and Matthew T. Mason

International Symposium on Robotics Research, pp. 293-300, August, 1989

Compliant Sliding of a Block Along a Wall
Matthew T. Mason

International Symposium on Experimental Robotics, pp. 568-578, June, 1989

Experiments in robot learning
Matthew T. Mason , Alan D. Christiansen and Tom Mitchell

Proceedings of the Sixth International Workshop on Machine Learning, January, 1989

How to Push a Block Along a Wall
Matthew T. Mason

NASA Conference on Space Telerobotics, January, 1989

Numerical Simulation of Time-Dependent Contact and Friction Problems in Rigid Body Mechanics: A Review
Matthew T. Mason

The Robotics Review 1, pp. 311-313, January, 1989

Robotic Manipulation: Mechanics and Planning
Matthew T. Mason

Robotics Science, pp. 262-288, January, 1989

Toward a Learning Robot
Tom Mitchell, Matthew T. Mason and Alan D. Christiansen

Proceedings of the Workshop on Representation and Learning in an Autonomous Agent, November, 1988

An Exploration of Sensorless Manipulation
Michael Erdmann and Matthew T. Mason

IEEE Journal of Robotics and Automation, Vol. 4, No. 4, pp. 369 - 379, August, 1988

On the Inconsistency of Rigid-Body Frictional Planar Mechanics
Matthew T. Mason and Yu Wang

IEEE International Conference on Robotics and Automation, Vol. 1, pp. 524-528, April, 1988

Planning Sequences of Squeeze-Grasps to Orient and Grasp Polygonal Objects
Matthew T. Mason , Kenneth Y. Goldberg and Russell H. Taylor

Seventh CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, January, 1988

Sensor-based manipulation planning as a game with nature
Russell H. Taylor, Matthew T. Mason and Kenneth Y. Goldberg

International Symposium on Robotics Research, January, 1988

Modeling Impact Dynamics for Robotic Operations
Yu Wang and Matthew T. Mason

IEEE International Conference on Robotics and Automation, January, 1987

Automatic Grasp Planning: An Operation Space Approach
Matthew T. Mason and Randy C. Brost

Sixth CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators, pp. 321-328, September, 1986

On the Scope of Quasi-Static Pushing
Matthew T. Mason

International Symposium on Robotics Research, pp. 229-233, January, 1986

Mechanics of Pushing
Matthew T. Mason

International Symposium on Robotics Research, January, 1985

Robot Hands and the Mechanics of Manipulation
Matthew T. Mason and J. Kenneth Salisbury

January, 1985

The Mechanics of Manipulation
Matthew T. Mason

IEEE International Conference on Robotics and Automation, pp. 544-548, January, 1985

Automatic Planning of Fine Motions: Correctness and Completeness
Matthew T. Mason

Proceedings of the IEEE International Conference on Robotics and Automation, 1984, pp. 492-503, March, 1984

Automatic Synthesis of Fine-Motion Strategies for Robots
Tomas Lozano-Perez, Matthew T. Mason and Russell H. Taylor

International Journal of Robotics Research, Vol. 3, No. 1, January, 1984

Automatic Planning of Fine Motions: Correctness and Completeness
Matthew T. Mason

CMU-RI-TR-83-18, Robotics Institute, Carnegie Mellon University, December, 1983

Adaptable Manipulation without Sensors
Matthew T. Mason

Robotics Research and Advanced Applications, January, 1982

Manipulator Grasping and Pushing Operations
Matthew T. Mason

doctoral dissertation, Electrical Engineering and Computer Science, MIT, January, 1982

Robot Motion: Planning and Control
M. Brady, J. M. Hollerbach, T. Johnson, T. Lozano-Perez and Matthew T. Mason

January, 1982

Compliance and Force Control for Computer-Controlled Manipulators
Matthew T. Mason

IEEE Trans on Systems, Man, and Cybernetics, Vol. 11, No. 6, pp. 418-432, January, 1981

Mailing Address:

Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

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